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 <body>
  <p>
   <strong>MAVLink Include Files:</strong>
   <a href="common.md">common.xml</a>
  </p>
  <h2 id="messages">MAVLink Messages</h2>
  <h3 id="CUBEPILOT_RAW_RC">CUBEPILOT_RAW_RC (<a href="#CUBEPILOT_RAW_RC">
    #50001
   </a>
   )
  </h3>
  <p>
   <a href="#messages">
    [Message]
   </a>
   <strong>
    (MAVLink 2)
   </strong>Raw RC Data</p>
  <table class="sortable">
   <thead>
    <tr>
     <th>Field Name</th>
     <th>Type</th>
     <th>Description</th>
    </tr>
   </thead>
   <tbody>
    <tr>
     <td>rc_raw</td>
     <td>uint8_t[32]</td>
     <td>
     </td>
    </tr>
   </tbody>
  </table>
  <h3 id="HERELINK_VIDEO_STREAM_INFORMATION">HERELINK_VIDEO_STREAM_INFORMATION (<a href="#HERELINK_VIDEO_STREAM_INFORMATION">
    #50002
   </a>
   )
  </h3>
  <p>
   <a href="#messages">
    [Message]
   </a>
   <strong>
    (MAVLink 2)
   </strong>Information about video stream</p>
  <table class="sortable">
   <thead>
    <tr>
     <th>Field Name</th>
     <th>Type</th>
     <th>Units</th>
     <th>Description</th>
    </tr>
   </thead>
   <tbody>
    <tr>
     <td>camera_id</td>
     <td>uint8_t</td>
     <td>
     </td>
     <td>Video Stream ID (1 for first, 2 for second, etc.)</td>
    </tr>
    <tr>
     <td>status</td>
     <td>uint8_t</td>
     <td>
     </td>
     <td>Number of streams available.</td>
    </tr>
    <tr>
     <td>framerate</td>
     <td>float</td>
     <td>Hz</td>
     <td>Frame rate.</td>
    </tr>
    <tr>
     <td>resolution_h</td>
     <td>uint16_t</td>
     <td>pix</td>
     <td>Horizontal resolution.</td>
    </tr>
    <tr>
     <td>resolution_v</td>
     <td>uint16_t</td>
     <td>pix</td>
     <td>Vertical resolution.</td>
    </tr>
    <tr>
     <td>bitrate</td>
     <td>uint32_t</td>
     <td>bits/s</td>
     <td>Bit rate.</td>
    </tr>
    <tr>
     <td>rotation</td>
     <td>uint16_t</td>
     <td>deg</td>
     <td>Video image rotation clockwise.</td>
    </tr>
    <tr>
     <td>uri</td>
     <td>char[230]</td>
     <td>
     </td>
     <td>Video stream URI (TCP or RTSP URI ground station should connect to) or port number (UDP port ground station should listen to).</td>
    </tr>
   </tbody>
  </table>
  <h3 id="HERELINK_TELEM">HERELINK_TELEM (<a href="#HERELINK_TELEM">
    #50003
   </a>
   )
  </h3>
  <p>
   <a href="#messages">
    [Message]
   </a>
   <strong>
    (MAVLink 2)
   </strong>Herelink Telemetry</p>
  <table class="sortable">
   <thead>
    <tr>
     <th>Field Name</th>
     <th>Type</th>
     <th>Description</th>
    </tr>
   </thead>
   <tbody>
    <tr>
     <td>rssi</td>
     <td>uint8_t</td>
     <td>
     </td>
    </tr>
    <tr>
     <td>snr</td>
     <td>int16_t</td>
     <td>
     </td>
    </tr>
    <tr>
     <td>rf_freq</td>
     <td>uint32_t</td>
     <td>
     </td>
    </tr>
    <tr>
     <td>link_bw</td>
     <td>uint32_t</td>
     <td>
     </td>
    </tr>
    <tr>
     <td>link_rate</td>
     <td>uint32_t</td>
     <td>
     </td>
    </tr>
    <tr>
     <td>cpu_temp</td>
     <td>int16_t</td>
     <td>
     </td>
    </tr>
    <tr>
     <td>board_temp</td>
     <td>int16_t</td>
     <td>
     </td>
    </tr>
   </tbody>
  </table>
  <h3 id="CUBEPILOT_FIRMWARE_UPDATE_START">CUBEPILOT_FIRMWARE_UPDATE_START (<a href="#CUBEPILOT_FIRMWARE_UPDATE_START">
    #50004
   </a>
   )
  </h3>
  <p>
   <a href="#messages">
    [Message]
   </a>
   <strong>
    (MAVLink 2)
   </strong>Start firmware update with encapsulated data.</p>
  <table class="sortable">
   <thead>
    <tr>
     <th>Field Name</th>
     <th>Type</th>
     <th>Units</th>
     <th>Description</th>
    </tr>
   </thead>
   <tbody>
    <tr>
     <td>target_system</td>
     <td>uint8_t</td>
     <td>
     </td>
     <td>System ID.</td>
    </tr>
    <tr>
     <td>target_component</td>
     <td>uint8_t</td>
     <td>
     </td>
     <td>Component ID.</td>
    </tr>
    <tr>
     <td>size</td>
     <td>uint32_t</td>
     <td>bytes</td>
     <td>FW Size.</td>
    </tr>
    <tr>
     <td>crc</td>
     <td>uint32_t</td>
     <td>
     </td>
     <td>FW CRC.</td>
    </tr>
   </tbody>
  </table>
  <h3 id="CUBEPILOT_FIRMWARE_UPDATE_RESP">CUBEPILOT_FIRMWARE_UPDATE_RESP (<a href="#CUBEPILOT_FIRMWARE_UPDATE_RESP">
    #50005
   </a>
   )
  </h3>
  <p>
   <a href="#messages">
    [Message]
   </a>
   <strong>
    (MAVLink 2)
   </strong>offset response to encapsulated data.</p>
  <table class="sortable">
   <thead>
    <tr>
     <th>Field Name</th>
     <th>Type</th>
     <th>Units</th>
     <th>Description</th>
    </tr>
   </thead>
   <tbody>
    <tr>
     <td>target_system</td>
     <td>uint8_t</td>
     <td>
     </td>
     <td>System ID.</td>
    </tr>
    <tr>
     <td>target_component</td>
     <td>uint8_t</td>
     <td>
     </td>
     <td>Component ID.</td>
    </tr>
    <tr>
     <td>offset</td>
     <td>uint32_t</td>
     <td>bytes</td>
     <td>FW Offset.</td>
    </tr>
   </tbody>
  </table>
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